Motor

Note:
"Motor" refers to the motor module.
The Properties window is used to modify the parameters of the motor, including the device name, location, driver CAN ID, driver maximum speed, driver reverse, number of encoder lines, CAN port, baud rate, model, function, wheel radius, deceleration ratio, external encoder model, external encoder ID, external encoder port, and zero marking mode.

Device name

Equipment name refers to the name of the motor, typically referred to as the "motor". The Enable Device option must be selected, otherwise the device will not function.

Location configuration

• basic
  • x
    The x position in the right - handed coordinate system
    Description: x position in the right hand coordinate system, such as the coordinates in the car model
  • y
    The y position in the right - handed coordinate system
    Description: The y position in the right hand coordinate system, such as the coordinates in the car model
  • z
    The z position in the right - handed coordinate system
    Description: The z position in the right hand coordinate system, such as the coordinates in the car model
  • yaw
    Definition: Angle in the right - handed coordinate system, x position in the right - handed coordinate system
    Direction Angle in the right hand coordinate system, x position in the right hand coordinate system, such as the coordinates in the car model
  • canID
    Definition: refers to the ID number of the drive CAN
    Note: It refers to the ID number of the CAN drive. Please enter the ID number based on the actual situation. (The naming rule of the AMB series is: Left 2 right 1, while drives of other brands are usually left 1 right 2)
  • maxRPM
    Meaning: refers to the maximum speed of the motor
    Note: refers to the maximum speed of the motor, please fill in according to the actual situation
  • inverse
    Meaning: Whether the drive is reversed
    Note: Indicates whether the drive is reverse. If this parameter is selected, it is reverse. If this parameter is not selected, it is forward. Select it as required
  • encoderLine
    Definition: refers to the number of encoder lines
    Note: Indicates the number of encoder cables. Set this parameter based on the actual situation
  • upLimitDI
    Definition: The upper limit is DI
    Note: -1 indicates that the upper limit DI is disabled. The upper limit di is 0-8 before H1.2.10 and 0-10 after H1.2.10
  • downLimitDI
    Definition: Lower limit DI
    Note: -1 indicates that the upper limit DI is disabled. The upper limit di is 0-8 before H1.2.10 and 0-10 after H1.2.10
  • zeroDI
    Definition: zero DI
    Note: -1 indicates that the upper limit DI is disabled. The upper limit di is 0-8 before H1.2.10 and 0-10 after H1.2.10
  • passive
    Definition: Whether it is a passive motor
    Note: If this parameter is not selected, the function is disabled

canport

• canPort
  • port1
    Communication port 1 of CAN.
    Please select based on the actual situation.
  • port2
    CAN communication port 2.
    Please select based on the actual situation.

Brand name

"Brand" refers to the model of the configured drive. Please select the appropriate brand based on your specific situation. We support the following drive brands:

Function

"Func" refers to the function of the motor. Please check it according to the actual situation.

• Functionality
  • walk
    Meaning: Walking motor
    Note: Select based on the actual situation
  • steer
    Meaning: Steering wheel motor
    Note: Select based on the actual situation
  • spin
    Meaning: Pallet rotating motor
    Note: Select based on the actual situation
  • fork
    Meaning: Fork motor
    Note: Select based on the actual situation
  • linear
    Meaning: Linear motor
    Note: Select based on the actual situation
  • rotation
    Meaning: Linear rotating motor
    Note: Select based on the actual situation

Walking Motor (Walk) Configuration

• func
  • wheelRadius
    The actual radius of the driving wheel.
    Note: Please enter the value based on the actual situation.
  • reductionRatio
    The walking mechanism deceleration ratio.
    Note: Please enter the value based on the actual situation.
  • minimumspeed
    The minimum speed of a moving motor.
    Note: Please enter the value based on the actual situation.
  • deadDealerK
    The deadDealerK.
    Note: Please enter the value based on the actual situation.

Rotary motor (spin) configuration

• Function Parameters:
  • maxSpeed
    Maximum speed.
    Note: Enter a value based on the actual situation.
  • maxAcc
    Maximum acceleration.
  • maxDec
    Maximum speed reduction.
    Note: Enter a value based on the actual situation.
  • maxJerk
    Maximum acceleration.
    Note: Enter a value based on the actual situation.
  • reductionRatio
    The gear ratio multiplied by the reduction ratio of the reducer.
    Note: Enter a value based on the actual situation.
  • calibrationVel
    Zero speed of tray rotation mark.
    Note: Enter a value based on the actual situation.
  • offset
    Offset angle.
    Note: Enter a value based on the actual situation.
  • blockDI
    Block DI.
    Note: -1 indicates that this function is disabled. If an error message is triggered during zero marking to stop, you can continue to mark zeros. Set this parameter based on the actual situation.

Rudder angle motor (steer) configuration

• func
  • maxSpeed
    Maximum speed.
    Note: Enter the value based on the actual situation.
  • maxAcc
    Maximum acceleration.
    Note: Enter the value based on the actual situation.
  • maxDec
    Maximum speed reduction.
    Note: Enter the value based on the actual situation.
  • maxJerk
    Maximum acceleration.
    Note: Enter the value based on the actual situation.
  • reductionRatio
    The gear ratio multiplied by the reduction ratio of the reducer.
    Note: Enter the value based on the actual situation.
  • maxAngle
    The maximum angle at which the wheel turns.
    Note: Enter the value based on the actual situation.
  • minAngle
    The minimum angle at which the wheel turns.
    Note: Enter the value based on the actual situation.
  • steerOffset
    The offset value of the steering wheel angle.
    Note: Enter the value based on the actual situation.
  • steerResolution
    Rudder angle resolution.
    Note: Enter the value based on the actual situation.
  • steerOffsetFile
    The folder in which the steerOffset value resides.
    Note: Enter the value based on the actual situation.
  • positionSpeed
    The speed at which the wheel rotates in a pattern of position.
    Note: Now it can only be used for Kinco to make steering motor, please fill in according to the actual situation.

Diagram of Model Parameters:

Fork Motor (Fork) Configuration (Used to Control Forklift Below RBK Version 3.3)

• func
  • minHeight
    Definition: refers to the minimum distance between the upper surface of the fork and the ground
    Note: Indicates the minimum distance between the upper surface of the fork and the ground. The unit is meters. Please fill in the distance according to the actual situation
  • maxHeight
    Meaning: refers to the maximum distance between the upper surface of the fork and the ground
    Note: It refers to the maximum distance between the upper surface of the fork and the ground. The unit is meters. Please fill in the distance according to the actual situation
  • maxDownSpeed
    Meaning: The maximum rate of descent
    Note: It refers to the maximum descending speed, and the unit is 1/1000 of the maximum current output. The specific speed depends on the oil circuit design, and please fill in according to the actual demand
  • maxUpSpeed
    Maximum rate of rise
    Note: refers to the maximum rising speed, with 1/1000 of the maximum current output as the unit, the specific speed depends on the design of the oil circuit, please fill in according to the actual demand
  • downDeadBand
    What it means: to descend a dead zone
    Explanation: Due to the fork mechanical structure, oil circuit design, parameter configuration and other factors, the actual decline to the theoretical value cannot be reduced, so it is necessary to add a drop dead zone to reduce the error value. In meters, the value of centimeter is usually set. For example, the fork is set to 1 meter, but the actual drop is to 0.97 meters, and the drop dead zone can be set to 0.03 meters. The fork can be lowered to 1 meter in practical conditions
  • upDeadBand
    What it means: to rise to a dead zone
    Explanation: As the fork mechanical structure, oil circuit design, parameter configuration and other factors lead to the actual rise to the theoretical value, it is necessary to add a rise dead zone to reduce the error value. In meters, the value of centimeter is usually set. For example, when the fork is set to 1 meter and actually drops to 1.03 meters, the rise dead zone can be set to 0.03 meters. So that the fork can be raised to 1 meter in practical conditions
  • forkType
    Definition: refers to the type of fork
    Note: indicates the type of fork. 0: no fork, 1: no fork with high feedback, 2: fork with high feedback. Fill in the fork according to the actual situation
  • pumpType
    Definition: refers to the pump control type
    Description: refers to pump control type, 0: no pump, 1: Curtis controlled IO pump, 2: Curtis proportional control pump, please fill in according to the actual situation
  • forkUpPIAdd
    Meaning: refers to the incremental value used for acceleration of fork rise
    Note: This increment value is set according to the basic condition of the vehicle body. The increment value can be changed according to the current output speed. Please fill in the increment value according to the actual test situation and demand
  • forkUpPIDel
    Definition: refers to the incremental value used for fork rise deceleration
    Note: This increment value is set according to the basic condition of the vehicle body. The increment value can be changed according to the current output speed. Please fill in the increment value according to the actual test situation and demand
  • forkDownPIAdd
    Meaning: refers to the incremental value used to accelerate the fork drop
    Note: This increment value is set according to the basic condition of the vehicle body. The increment value can be changed according to the current output speed. Please fill in the increment value according to the actual test situation and demand
  • forkDownPIDel
    Meaning: The incremental value used for fork descent deceleration
    Note: This increment value is set according to the basic condition of the vehicle body. The increment value can be changed according to the current output speed. Please fill in the increment value according to the actual test situation and demand

Motor (linear) configuration (used to control fork lifting in rbk version 3.3 and up)

• func
  • maxRPM
    The maximum rotation allowed by a linear motor
    Note: It refers to the maximum rotational speed of the linear motor. According to the formula: MaxRpm * _reductionRatio / 60.0f /1000.0f = val (m/s) [val is the delivery speed of rbk], which is used to symbolize the maximum speed that the fork can move
  • reductionRatio
    Definition: motor encoder deceleration ratio
    Note: When the motor encoder is used, the calculated deceleration ratio should be selected according to the actual situation. As a function related to the fork, the case of external encoder: refers to the deceleration ratio of external encoder, based on factor = (4_ encoderLine/ reductionRatio) _1000; [factor: Number of encoder cables of external encoder] Enter the parameter based on the actual connection situation
  • encoderLine
    Definition: motor encoder or external cable encoder wire number
    Note: When using the external cable encoder, the calculated number of encoder lines should be selected according to the actual situation. When using the fork lifting function, it refers to the encoder value of the external cable encoder, 4096 (SICK-AHM36) by default. According to the formula: factor = (4_ encoderLine/ reductionRatio) _1000; 【factor: Number of encoder lines for external encoder 】
    Generally, we can set the reductionRatio by fixing encoderLine as 4096
  • upLimitDI
    Definition: The upper limit is DI
    Note: -1 indicates that the upper limit DI is disabled. The upper limit di is 0-8 before H1.2.10, and 0-10 after H1.2.10. Set this parameter based on actual cable connections
  • downLimitDI
    Definition: Lower limit DI
    Note: -1 indicates that the upper limit DI is disabled. The upper limit di is 0-8 before H1.2.10, and 0-10 after H1.2.10. Set this parameter based on actual cable connections
  • zeroDI
    Definition: zero DI
    Note: -1 indicates that the upper limit DI is disabled. The upper limit di is 0-8 before H1.2.10, and 0-10 after H1.2.10. Set this parameter based on actual cable connections
  • maxSpeed
    Maximum speed
    Note: Enter the value based on the actual situation
  • maxAcc
    Maximum acceleration
    Note: Enter the value based on the actual situation
  • maxDec
    Maximum speed reduction
    Note: Enter the value based on the actual situation
  • maxJerk
    Maximum acceleration
    Note: Enter the value based on the actual situation
  • calibrational
    Zero speed
    Note: Enter the value based on the actual situation
  • minLenght
    Definition: refers to the minimum distance between the upper surface of the fork and the ground
    Note: Indicates the minimum distance between the upper surface of the fork and the ground. The unit is meters. Please fill in the distance according to the actual situation
  • maxLenght
    Meaning: refers to the maximum distance between the upper surface of the fork and the ground
    Note: It refers to the maximum distance between the upper surface of the fork and the ground. The unit is meters. Please fill in the distance according to the actual situation
  • offset
    Meaning: compensation value
    Note: When used as a motor with an external encoder, use as a fork action: refers to the minimum distance between the upper surface of the fork and the ground, please fill in according to the actual situation
  • minUpSpeed
    Rise speed dead zone value
    Note: Indicates the rising speed dead zone. 0: indicates the rising PID is used. Non-0: indicates the rising speed dead zone is used
  • minDownSpeed
    Drop speed dead zone value
    Note: Indicates the descending speed dead zone. 0: indicates the ascending PID is used. Non-0: indicates the ascending speed dead zone is used
  • UpKp
    Definition: refers to the proportional parameters of the PID adjustment of the fork
    Note: This parameter refers to the proportional parameter for fork rising PID adjustment. It can be adjusted according to the method of adjusting fork speed and accuracy. Please fill in the parameter according to the actual situation
  • UpKI
    Definition: refers to the integral parameter of the fork rise PID adjustment
    Note: It refers to the integral parameter adjusted by the ascending PID of the cargo fork. It can be adjusted according to the method of adjusting the speed and accuracy of the cargo fork. Please fill in the parameter according to the actual situation
  • UpKd
    Definition: refers to the differential parameters of the fork rise PID adjustment
    Note: It refers to the differential parameter of the fork rising PID adjustment. It can be adjusted according to the method of adjusting the fork speed and accuracy. Please fill in the differential parameter according to the actual situation
  • downKp
    Definition: refers to the fork down PID adjustment of the proportion parameter
    Note: This parameter refers to the proportional parameter for fork drop PID adjustment. Adjust it according to the method of adjusting fork speed and accuracy. Please fill in the parameter according to the actual situation
  • downKI
    Definition: refers to the fork drop PID adjustment of integral parameters
    Note: It refers to the integral parameter of the fork drop PID adjustment. It can be adjusted according to the method of adjusting the fork speed and accuracy. Please fill in the parameter according to the actual situation
  • downKD
    Definition: refers to the fork drop PID adjustment of differential parameters
    Note: It refers to the differential parameter of PID adjustment for fork drop. It can be adjusted according to the method of adjusting fork speed and accuracy. Please fill in according to the actual situation
  • deltaCnt
    Definition: cnt value that the encoder allows jitter
    Note: Indicates the cnt value that allows jitter for the encoder. -1: indicates that the jitter is disabled (Set to -1 for the truck). A value greater than 0 indicates the cnt range that allows fork jitter
  • upDelayTime
    Definition: refers to the fork lift delay completion time
    Note: The unit is s, where -1 indicates that the fork is not in use, 0 indicates protocol DI, and 1 to 20 indicates the delay time. [If the protocol DI is set to 0 for forklift trucks], enter the value based on the actual situation
  • downDelayTime
    Meaning: fork drop delay completion time
    Note: The unit is s. -1: indicates that the descending delay is not used, 0: indicates protocol DI, and 1 to 20 indicates the delay time. If protocol DI is configured for the forklift truck, set it to 0

The configuration of the linear rotating motor (rotation)

(to be added)

External Encoder Type

Note:
"outEncoderBrand" refers to the type of external encoder. Please select the appropriate type based on the requirements of your site.

• outEncoder
  • outEncoderID
    Definition: ID of external cable encoder
    Note: Select based on the actual situation.
  • outEncoderRatio
    Definition: External draw-wire encoder deceleration ratio
    Note: When using the external cable encoder, please choose the deceleration ratio according to the actual situation.
  • outEncoderLine
    Definition: External cable encoder wire number
    Note: When using the external cable encoder, please choose the calculated number of encoder lines according to the actual situation.
• outEncoderPort
  • port1
    Communication port 1 of CAN
    Note: Select based on the actual situation.
  • port2
    CAN communication port 2
    Note: Select based on the actual situation.
• resetMode
  • resetMode
    Definition: Index zero mode
    Note: Please choose according to the actual situation. If you do not need to mark zero, select none.
  • resetBySpeed
    Definition: Calibrated by means of speed
    Note: If you are using a jacking rotating car body, please select resetBySpeed for the jack and spin motors that need to be marked with zero.
  • resetbyDriver
    Definition: Zero by way of drive
    Note: If you are using a single or double steering wheel body, select the steer motor as the resetbyDriver. The walking motor remains none.